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some cleanup

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shota 2023-08-12 17:46:17 +09:00
parent 6ac1bec25e
commit c51f15f3ad
1 changed files with 0 additions and 35 deletions
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35
src/main/navigation/navigation.c
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@ -4448,34 +4448,6 @@ emergLandState_e getStateOfForcedEmergLanding(void)
} }
} }
/*-----------------------------------------------------------
* Ability to mixer_profile(vtol) switch on external event
*-----------------------------------------------------------*/
// void activateMIXERATHelper(void)
// {
// posControl.flags.mixerATHelperActivated = true;
// navProcessFSMEvents(selectNavEventFromBoxModeInput());
// }
// void abortMIXERATHelper(void)
// {
// // Disable emergency landing and make sure we back out of navigation mode to IDLE
// // If any navigation mode was active prior to emergency landing it will be re-enabled with next RX update
// posControl.flags.mixerATHelperActivated = false;
// navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
// }
// altHoldState_e getStateOfMIXERATHelper(void)
// {
// /* If forced emergency landing activated and in EMERG state */
// if (posControl.flags.mixerATHelperActivated && (navGetStateFlags(posControl.navState) & NAV_CTL_ALT)) {
// return ALTHOLD_IN_PROGRESS;
// } else {
// return ALTHOLD_IDLE;
// }
// }
bool isWaypointMissionRTHActive(void) bool isWaypointMissionRTHActive(void)
{ {
return (navGetStateFlags(posControl.navState) & NAV_AUTO_RTH) && IS_RC_MODE_ACTIVE(BOXNAVWP) && return (navGetStateFlags(posControl.navState) & NAV_AUTO_RTH) && IS_RC_MODE_ACTIVE(BOXNAVWP) &&
@ -4487,13 +4459,6 @@ bool navigationIsExecutingAnEmergencyLanding(void)
return navGetCurrentStateFlags() & NAV_CTL_EMERG; return navGetCurrentStateFlags() & NAV_CTL_EMERG;
} }
bool navigationInAnyMode(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return !(stateFlags == 0);
}
bool navigationInAutomaticThrottleMode(void) bool navigationInAutomaticThrottleMode(void)
{ {
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags(); navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();